Aerospace Science and Technology
Shayan Dehkhoda; Mohammad-Ali Amiri Atashgah
Abstract
This paper is dedicated to the optimal path-planning of a quadrotor to deliver the goods in the form of a round-trip mission. At first, quadrotor modeling is performed by the Newton-Euler method and then the problem is formulated as an optimal control effort problem. Then, by discretization of the equations ...
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This paper is dedicated to the optimal path-planning of a quadrotor to deliver the goods in the form of a round-trip mission. At first, quadrotor modeling is performed by the Newton-Euler method and then the problem is formulated as an optimal control effort problem. Then, by discretization of the equations using the direct colocation method, the problem becomes a nonlinear programming system that can be solved by available optimization methods. This discretization helps to make the derivative values in the equations of motion as simple algebraic expressions and the path optimization problem becomes a standard form of nonlinear programming problem (NLP). In this method, instead of obtaining state and control functions, state and control values are obtained at the beginning and endpoints of smaller time intervals. This method is one of the most explicit methods for the numerical solution of differential equations. It should be noted that in this research, safe areas around urban obstacles are considered fixed cylinders. Extensive simulations are evidence of the usefulness of this method, while the vehicle realizes all geometric, dynamic, and kinematic constraints.
Aerospace Science and Technology
Mohammad Hossein Khalesi
Abstract
Unmanned Aerial Vehicles (UAVs) have numerous applications in military, commercial and hobby fields. Among these vehicles, drones with vertical take-off and landing (VTOL) capability have attracted more attention due to their specific capabilities such as better maneuverability and hover flight. In recent ...
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Unmanned Aerial Vehicles (UAVs) have numerous applications in military, commercial and hobby fields. Among these vehicles, drones with vertical take-off and landing (VTOL) capability have attracted more attention due to their specific capabilities such as better maneuverability and hover flight. In recent years, numerous concepts emerged which trying to propose new configurations to enhance UAVs performance. In this paper, we propose a novel concept which integrates single main rotor helicopter and quadrotor structure to overcome some difficulties exist in those applications. This suggested configuration, include a variable pitch main rotor equipped with four smaller counterrotating rotors to overcome its opposite torque (instead of a tail rotor in helicopters) and also sustain a portion of the UAV weight which make it possible to use a smaller main rotor. This design preserves maneuverability of helicopters, while eliminates tail rotor power loss and its asymmetric lateral force and also enhances the flight stability and maneuverability by properly using other four rotors’ thrusts. Preliminary dynamic modeling and control system design are presented in the text and the results show that this idea can be investigated further. The next steps are planned to be studied in next researches.
Aerospace Science and Technology
Hamidreza Jafari; Farid Shahmiri
Volume 12, Issue 1 , March 2019, , Pages 39-51
Abstract
In this paper, the particular solution technique for inverse simulation applied to the quadrotor maneuvering flight is investigated. The trust-region dogleg (DL) technique which is proposed alleviates the weakness of Newton’s method used for numerical differentiation of system states in the ...
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In this paper, the particular solution technique for inverse simulation applied to the quadrotor maneuvering flight is investigated. The trust-region dogleg (DL) technique which is proposed alleviates the weakness of Newton’s method used for numerical differentiation of system states in the solution process. The proposed technique emphasizes global convergence solution to the inverse simulation problem. This algorithm is evaluated by calculating the control inputs necessary to enable the quadrotor to follow a specified trajectory including climb-hover and cruise-hover maneuvers. The trajectory is generated by the direct simulation using a linear optimal control developed for the quadrotor. The model of rotors for the quadrotor is a nonlinear model developed based on blade element theory (BET), linear aerodynamics, and non uniform inflow over the rotor disc. The results show that the control inputs obtained from the inverse simulation are in good agreement with control inputs estimated by direct simulation. The results also confirm that the maximum difference between the prescribed trajectory and the trajectory generated by the direct simulation is less than 0.02%, and thus the potential application of the inverse simulation with the trust-region dogleg optimization is evident.
